Bewegungskompensation in der Herzchirurgie

Before motion compensation in beating heart surgery can be performed, organ motion arising from the patient's respiration or heart beat has to be coped with. Therefore, the reliable measurement of this motion is an essential part of an advanced minimally invasive robotic surgery system (tracking block in the inner part of the figure).

Online prediction is also necessary to overcome the delays (data acquisition and processing, communication, etc.) which deteriorate the performance of the visual servoing control loop closed (inner part of the figure).

Robust motion compensation requires the synchronous movement of heart surface and instrument, such that the relative distance/orientation between the tool centre point of the instrument and selected points on the heart surface remains almost constant. This involves the elimination of the above-mentioned delays.